CN115316216A - Multi-sapling automatic planting robot - Google Patents
Multi-sapling automatic planting robot Download PDFInfo
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- CN115316216A CN115316216A CN202211066354.7A CN202211066354A CN115316216A CN 115316216 A CN115316216 A CN 115316216A CN 202211066354 A CN202211066354 A CN 202211066354A CN 115316216 A CN115316216 A CN 115316216A
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- 239000002689 soil Substances 0.000 claims abstract description 204
- 238000003860 storage Methods 0.000 claims abstract description 101
- 230000007246 mechanism Effects 0.000 claims description 149
- 230000007306 turnover Effects 0.000 claims description 148
- 230000003287 optical effect Effects 0.000 claims description 90
- 230000005540 biological transmission Effects 0.000 claims description 44
- 230000001360 synchronised effect Effects 0.000 claims description 42
- 230000033001 locomotion Effects 0.000 claims description 38
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 24
- 238000010146 3D printing Methods 0.000 claims description 15
- 238000007639 printing Methods 0.000 claims description 15
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 14
- 241000196324 Embryophyta Species 0.000 claims description 14
- 229910052802 copper Inorganic materials 0.000 claims description 14
- 239000010949 copper Substances 0.000 claims description 14
- 239000003822 epoxy resin Substances 0.000 claims description 13
- 229920000647 polyepoxide Polymers 0.000 claims description 13
- 229910052742 iron Inorganic materials 0.000 claims description 12
- 230000009471 action Effects 0.000 claims description 11
- 239000004033 plastic Substances 0.000 claims description 11
- 238000005056 compaction Methods 0.000 claims description 10
- 230000007704 transition Effects 0.000 claims description 9
- 241000834287 Cookeolus japonicus Species 0.000 claims description 8
- 230000005484 gravity Effects 0.000 claims description 6
- 244000309464 bull Species 0.000 claims description 5
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 238000003756 stirring Methods 0.000 claims description 3
- 230000009467 reduction Effects 0.000 description 19
- 230000000694 effects Effects 0.000 description 8
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 238000005265 energy consumption Methods 0.000 description 5
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 239000004593 Epoxy Substances 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 240000007643 Phytolacca americana Species 0.000 description 1
- 235000009074 Phytolacca americana Nutrition 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G23/00—Forestry
- A01G23/02—Transplanting, uprooting, felling or delimbing trees
- A01G23/04—Transplanting trees; Devices for grasping the root ball, e.g. stump forceps; Wrappings or packages for transporting trees
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C13/00—Machines or apparatus for consolidating soil around plants
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C5/00—Making or covering furrows or holes for sowing, planting or manuring
- A01C5/04—Machines for making or covering holes for sowing or planting
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- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Biodiversity & Conservation Biology (AREA)
- Ecology (AREA)
- Forests & Forestry (AREA)
- Soil Working Implements (AREA)
- Transplanting Machines (AREA)
Abstract
The invention discloses an automatic planting robot for multiple seedlings, which comprises a crawler moving frame, a storage and transportation platform, a soil loosening planting part and a soil compacting unit, wherein the crawler moving frame is arranged on the crawler moving frame; the crawler moving frame is used for driving the whole automatic planting robot to walk and supporting the whole automatic planting robot; the storage and transportation platform is arranged at the top of the crawler mobile frame and is used for storing and transporting a plurality of saplings simultaneously; the plurality of soil loosening planting parts are arranged on the crawler moving frame and used for loosening soil of a plurality of planting points and simultaneously planting a plurality of saplings on the loosened soil; the soil tamping unit has 2, sets up respectively in crawler travel vehicle frame bottom one side for carry out the tamping to a plurality of planting point soil after planting simultaneously. The invention has high automation degree, thereby reducing the labor cost; the structure is simple, and the operation is convenient; can plant a plurality of saplings at one time, and has high planting efficiency.
Description
Technical Field
The invention belongs to the field of tree planting robots, and particularly relates to a multi-seedling automatic planting robot.
Background
The development of the intelligent mobile robot technology provides a development platform for agricultural machinery. With the development of technology, more and more robots are used for afforestation. However, the existing tree planting robot has the following disadvantages: 1. the automation degree is low, most of tree planting robots need manual operation and control, integrated planting cannot be realized, and the labor cost is high; 2. the structure is numerous and complicated, and the tree planting task is inconvenient and complicated; 3. the efficiency is low, most of the tree planting robots can only plant one tree at a time, and the planting work efficiency is low.
Disclosure of Invention
The invention aims to provide an automatic planting robot, which has high automation degree, so that the labor cost is low; the structure is simple, and the operation is convenient; can plant a plurality of saplings at a time, and has high planting efficiency.
The technical scheme adopted by the invention is as follows:
a multi-seedling automatic planting robot comprises a crawler moving frame, a storage and transportation platform, a soil loosening planting part and a soil tamping unit;
the crawler moving frame is used for driving the whole automatic planting robot to walk and supporting the whole automatic planting robot;
the storage and transportation platform is arranged at the top of the crawler mobile frame and is used for storing and transporting a plurality of saplings simultaneously;
the plurality of soil loosening planting parts are arranged on the crawler moving frame and used for loosening soil of a plurality of planting points and simultaneously planting a plurality of saplings on the loosened soil;
the soil tamping unit is arranged on one side of the bottom of the crawler moving frame and used for simultaneously tamping a plurality of planted soil.
The crawler moving frame comprises a frame support, a connecting structure, a crawler group and a crawler moving control unit;
the frame support comprises 4 frame upright columns;
the connecting structure comprises two crawler transverse connecting rods and crawler group connecting rods, and the crawler transverse connecting rods are arranged in parallel and connected with the crawler group connecting rods;
the two crawler belt groups are respectively positioned at two ends of the transverse connecting rod of the crawler belt and comprise a crawler belt, a supporting side plate, a crawler belt driving wheel and a bearing wheel; the two supporting side plates are respectively positioned on two sides of the crawler belt and are connected through copper columns; each crawler belt group is provided with 2 crawler belt group connecting rods which are respectively connected with the supporting side plates on the two sides; the four frame columns are arranged in parallel and are respectively connected with the crawler group connecting rod and the crawler transverse connecting rod; the crawler driving wheel comprises a crawler moving 3D printing part and an epoxy resin ring annularly arranged on the crawler moving 3D printing part, and the crawler driving wheel drives the crawler to move under the action of a crawler moving stepping motor of the control unit; the bearing wheel is arranged on one supporting side plate;
the crawler movement control unit comprises a crawler movement stepping motor and a crawler movement controller, and the crawler movement controller controls the crawler movement stepping motor to work so as to drive the crawler to move.
According to above-mentioned scheme, the track removes 3D and prints a piece including the drive wheel body and the tooth that is located the drive wheel body, this tooth and the tooth looks adaptation on the track, simple structure, the preparation of being convenient for.
According to the scheme, the bearing wheel comprises an epoxy resin plate with a bearing and a copper column; the two epoxy resin plates are connected through copper columns to form a bearing wheel body; the bearing wheel body is fixed on the supporting side plate through the bearing wheel optical axis seat and the bearing wheel optical axis, and the bearing wheel is simple in structure and convenient to install.
According to the scheme, the bearing wheels are multiple and are arranged at the lower parts of the supporting side plates, so that the whole structure is more stable in walking.
According to the scheme, the inner side of the crawler belt is provided with the groove for placing the bearing wheel and limiting the bearing wheel left and right, so that the whole structure is more stable and reliable.
According to the scheme, the crawler belt is an XH square tooth synchronous belt, and is low in price and durable in use.
According to the scheme, the transverse connecting rod of the crawler belt is connected with the connecting rod of the crawler belt group through the corner connector and the trapezoidal nut; the crawler group connecting rod is connected with the supporting side plate through a trapezoidal nut; the connection is very convenient and firm.
According to the scheme, the track moving stepping motor is connected with the track driving wheel through a plum coupling; the crawler movement controller controls the crawler movement stepping motor to work through data transmitted from the electronic compass and the infrared coding disc which are arranged on the supporting side plate, so that the running speed and direction of the crawler are controlled, the adaptability of the whole device is improved, and the crawler movement controller can adapt to the environment better.
According to the scheme, the track moving stepping motor and the track moving controller are arranged in the box body, and can play a role in protecting and preventing interference on the whole control unit.
According to the scheme, the storage and transportation platform comprises a supporting bottom plate, a storage structure, 2 resistance reducing structures for reducing the motion resistance of the storage structure, 2 limiting structures for limiting the displacement track of the storage structure, a sliding structure, a shifting structure and a storage and transportation control module;
the support bottom plate is fixed on a frame support of the crawler moving frame and is provided with at least 4 output ports;
the two storage structures are symmetrically arranged, are arranged on the supporting bottom plate and comprise at least 20 rotating drum units which are annularly arranged;
one storage structure corresponds to one resistance reducing structure, and the resistance reducing structure is fixed on the supporting bottom plate;
one storage structure corresponds to one limiting structure, and the limiting structure is fixed on the supporting bottom plate;
the sliding structure is arranged on the support bottom plate; the shifting structure is arranged on the sliding structure; the control module controls the shifting structure to slide on the sliding structure;
the poking structure pokes the rotary drum units of the 2 storage structures simultaneously under the action of the control module, so that the rotary drum units move along the limiting track of the limiting structure.
According to the scheme, the rotary drum unit comprises a plastic pipe and a first bearing, and the first bearing is sleeved on the plastic pipe and is in interference fit with the plastic pipe.
According to the scheme, the storage and transportation control module comprises a storage and transportation motor, a steering engine and a storage and transportation controller; the storage and transportation motor and the steering engine are electrically connected with the storage and transportation controller; the storage and transportation motor is connected with the supporting plate of the shifting structure through the first connecting rod, and the storage and transportation motor drives the first connecting rod to realize the movement of the shifting structure (the shifting structure is driven by the storage and transportation motor to slide along the sliding structure); and the steering engine controls an active shifting rod of the shifting structure to work.
According to the scheme, the shifting structure comprises a supporting plate, a driving shifting rod and a driven shifting rod;
the supporting plate is connected with a storage and transportation motor of the storage and transportation control module through a first connecting rod, and the storage and transportation motor drives the supporting plate to slide along the sliding structure;
the driving deflector rod is sleeved on the storage and transportation optical axis, one end of the storage and transportation optical axis is connected with a steering engine of the storage and transportation control module, the other end of the storage and transportation optical axis is connected with a storage and transportation bearing seat, and the storage and transportation bearing seat is connected with a supporting plate; the steering engine works to drive the driving deflector rod to move, so that the driving deflector rod is horizontally or vertically arranged;
the driven deflector rod is sleeved on the storage and transportation optical axis, two ends of the storage and transportation optical axis are respectively connected with the storage and transportation bearing block, and the storage and transportation bearing block is connected with the support plate; the teeth on the driven deflector rod are matched with the teeth on the driving deflector rod; the driving deflector rod moves to drive the driven deflector rod to move, so that the state of the driven deflector rod is the same as that of the driving deflector rod, and the 2 rotary drum units with the storage structures are simultaneously stirred.
According to the scheme, the storage and transportation motor and the storage and transportation controller are arranged in the box body; the steering engine is fixed on the rudder base, and the rudder base is arranged on the supporting plate of the shifting structure.
According to the scheme, the drag reduction structure comprises an inner ring drag reduction mechanism and an outer ring drag reduction mechanism which are arranged on the supporting base plate, the inner ring drag reduction mechanism is arranged in the outer ring drag reduction mechanism, and a motion track of the rotary drum unit of the storage structure is arranged between the inner ring drag reduction mechanism and the outer ring drag reduction mechanism.
According to the scheme, the inner ring resistance reducing mechanism and the outer ring resistance reducing mechanism both comprise annular resistance reducing formed by a bull's eye wheel and a rotating bearing, the annular resistance reducing consists of 2 straight edges and two arc edges, the bull's eye wheel is arranged on the arc edges, and the rotating bearing is arranged on the straight edges; the bull's eye wheels are arranged on the supporting bottom plate; the rotary bearing is fixed to a bearing fixing plate, which is fixed to the support base plate.
According to the scheme, the limiting structure comprises an inner ring limiting plate, an outer ring limiting plate and a rotary drum baffle;
the outer ring limiting plate is annular, is fixed on the supporting bottom plate and is positioned on the outer ring resistance reducing mechanism;
the inner ring limiting plate is annular, is arranged in the outer ring limiting plate, is fixed on the bearing fixing plate of the resistance reducing structure and is positioned on the inner ring resistance reducing mechanism; the motion trail of the rotary drum unit with the storage structure is arranged between the inner ring limiting plate and the outer ring limiting plate;
the rotary drum baffle is connected with the inner ring limiting plate.
According to the scheme, the outer ring limiting plate comprises an annular outer ring epoxy resin plate and a cylindrical 3D printing piece; one end of the cylindrical 3D printing piece is connected with the outer ring epoxy resin plate, and the other end of the cylindrical 3D printing piece is connected with the supporting base plate.
The working process of the storage and transportation platform comprises the following steps:
the poking structure enables the driving poking rod and the driven poking rod to be in a horizontal state under the action of the steering engine, and the driving poking rod and the driven poking rod are respectively contacted with the rotary drum units on the two sides; and then, the storage and transportation motor drives the connecting rod to move, so that the shifting structure mechanism slides on a sliding rail of the sliding structure, the driving shifting rod and the driven shifting rod shift the rotary drum unit, the rotary drum unit moves in a rail limited by the limiting structure, the transportation of the saplings is realized, the saplings are output from the output port, and the resistance to movement is reduced through the resistance reducing structure in the movement process of the rotary drum unit. When another group of saplings needs to be switched, the steering engine rotates to enable the driving deflector rod and the driven deflector rod to rotate to be in a vertical state, and the storage and transportation motor drives the whole deflector structure to reset; after resetting, the steering engine rotates reversely, so that the driving deflector rod and the driven deflector rod are in a horizontal state again; then the storage and transportation motor drives the first connecting rod to move, and the shifting structure mechanism slides on a sliding rail of the sliding structure, so that the driving shifting rod and the driven shifting rod shift the rotary drum unit, and the transportation of the saplings and the output of the saplings are realized again; the above actions are repeated, and the sapling can be continuously transported.
The number of the soil loosening tree planting parts is 4, the soil loosening tree planting parts are connected with soil loosening planting fixing plates on 4 frame columns of the crawler moving frame through the mounting platform, and the soil loosening planting fixing plates can slide along the frame columns; the soil loosening planting fixing plates on the same side are connected through a fixing plate connecting rod, and a synchronous belt mounting plate is arranged on the fixing plate connecting rod; the lifting synchronous belt is fixed on the synchronous belt mounting plate, and the soil loosening and tree planting lifting motor drives the fixing plate connecting rod to move up and down through the lifting synchronous belt so as to drive the soil loosening and tree planting part to move up and down;
the soil loosening tree planting part comprises a soil loosening unit, a tree planting unit and a soil loosening tree planting control module;
the soil loosening unit is used for loosening soil and comprises a turnover mechanism, a drill bit mechanism and an electromagnet mechanism, wherein the upper end of the turnover mechanism is connected with the tree planting unit, the drill bit mechanism is connected with the lower end of the turnover mechanism, the electromagnet mechanism enables the turnover mechanism and the tree planting unit to be fixed under the power-on condition, and the turnover mechanism can realize turnover under the power-off condition;
the tree planting unit is used for conveying planted plants and comprises a top platform and a tree planting pipeline, and an inlet of the tree planting pipeline is matched with an output port on a supporting bottom plate of the storage and transportation platform; the tree planting pipeline penetrates through the mounting platform and the top platform and then extends into the turnover mechanism, and after the turnover mechanism turns over, the tree planting unit can only plant trees;
the soil loosening and tree planting control module controls the turnover mechanism, the drill bit mechanism and the electromagnet mechanism to work; when the soil loosening and tree planting control module enables the electromagnet mechanism to be electrified, the overturning mechanism and the tree planting unit are fixed, and the drill bit mechanism loosens soil; when the tree planting control module loosens the soil makes the electromagnet mechanism power off, the tree planting control module loosens the soil controls the turnover mechanism to overturn, and the tree planting control module loosens the soil controls the tree planting unit to perform tree planting operation.
The soil loosening tree planting control module comprises a turnover control module, and the turnover control module comprises a turnover control platform, a turnover control motor, a first turnover optical shaft, a turnover gear set, a second turnover optical shaft, a turnover synchronizing wheel, a first turnover synchronizing belt, a second turnover synchronizing belt, a first turnover transmission shaft and a second turnover transmission shaft; the overturning control platform is connected with the mounting platform through an overturning copper column, the overturning control motor is arranged on the overturning control platform, the overturning control motor is connected with a first overturning gear of the overturning gear set through a first overturning optical axis, a second overturning optical axis is connected with a second overturning gear of the overturning gear set, and the second overturning gear is meshed with the first overturning gear; the first overturning synchronous belt is sleeved on an overturning synchronous wheel on the first overturning optical axis and an overturning synchronous wheel on the first overturning transmission shaft; the second overturning synchronous belt is sleeved on an overturning synchronous wheel on a second overturning optical axis and an overturning synchronous wheel on a second overturning transmission shaft; two ends of a turnover transmission shaft (a first turnover transmission shaft and a second turnover transmission shaft) are respectively connected with a turnover bearing seat and a side plate of two turnover mechanisms at the same side; the second overturning optical axis is arranged on the overturning optical axis bearing seat; the turnover control motor works to drive the first turnover optical shaft to rotate, the first turnover optical shaft drives the first turnover gear to rotate, the first turnover gear drives the second turnover gear, the second turnover gear drives the second turnover optical shaft to rotate, the first turnover optical shaft and the second turnover optical shaft respectively drive the first turnover synchronous belt and the second turnover synchronous belt to move, the first turnover synchronous belt and the second turnover synchronous belt respectively drive the first turnover transmission shaft and the second turnover transmission shaft to rotate, the first turnover transmission shaft drives two turnover mechanisms at the same side to turn over, and the second turnover transmission shaft drives two turnover mechanisms at the same side to turn over;
the turnover mechanism comprises a turnover bearing seat, a side plate and a bottom plate;
the overturning bearing seat is fixedly connected with the tree planting unit; the number of the side plates is 2, the side plates are respectively positioned at two sides of the tree planting pipeline and are connected through strength supporting pieces, and the strength supporting pieces (the strength supporting pieces are copper columns, printing pieces and bolts) play a supporting role and a connecting role, so that a turnover mechanism formed by the side plates is more stable and reliable in structure; the bottom plate is connected with the lower ends of the 2 side plates; the turnover control motor drives the turnover transmission shaft to rotate, and the turnover transmission shaft drives the side plate and the bottom plate to rotate;
the soil loosening and tree planting control module controls a first motor to work, the first motor drives an optical shaft to rotate, and the optical shaft drives a side plate to rotate, so that overturning is realized;
the drill bit mechanism comprises a second motor and a drill bit, and the second motor is arranged on a bottom plate of the turnover mechanism; the central line of the drill bit and the central line of the tree planting pipeline are on the same straight line; the soil loosening tree planting control module controls the second motor to work, and the second motor drives the drill bit to perform soil loosening operation.
In a further scheme, the drill bit 13 is a micro single-head drill bit, and the central axis diameter of the micro single-head drill bit is 8mm; the second motor is a brushless 7-shaped motor, the diameter of an output shaft of the second motor is 5mm, and the shaft is connected with the shaft through a coupler. Adopt this drill bit and motor, the realization that can be fine loosens the soil, the subsequent planting of being convenient for.
According to a further scheme, the electromagnet mechanism comprises an electromagnet and an iron sheet; the electromagnet is arranged on a connecting transition piece of the tree planting unit, the iron sheet is arranged on a side plate of the turnover mechanism, and when the soil loosening unit is required to loosen soil, the electromagnet is electrified and tightly absorbs the iron sheet; when the tree planting unit is needed to work, the electromagnet is powered off, and the soil loosening unit is driven to overturn.
In a further scheme, the tree planting pipeline is fixed on the top platform through a pipeline fixing printing piece; the lower portion of the top platform is connected with a connecting transition piece.
The lower end of the tree planting pipeline is provided with a valve, and the valve is fixed on the tree planting pipeline through a pipe clamp; the inner diameter of the pipe clamp is equal to that of the tree planting pipeline, and the thickness of the pipe clamp is 2mm; when the tree planting unit works, after the plants are conveyed to the tree planting pipeline, the plants push the valve open under the action of gravity and are planted in soil loosened by the drill bit mechanism.
In a further scheme, the valve comprises 2 valve side plates, a valve top plate, a valve body and an elastic band; the 2 valve side plates are respectively positioned at two sides of the valve top plate, and the 2 valve side plates, the valve top plate and the valve body are fixed through six-sided nuts; the valve body is arranged at the inclined pipe orifice of the tree planting pipeline and is matched with the inclined pipe orifice of the tree planting pipeline; 2 valve side plates and a valve top plate are epoxy resin plates;
the middle part of each valve side plate is provided with a mounting hole, and the tail part of each valve side plate is provided with an elastic belt connecting hole; the cylinder on the pipe clamp penetrates through the mounting hole and then is fixed by the nut, and the valve side plate can rotate around the cylinder (the rotary circle center of the valve is the circle center of the cylinder); one end of the elastic belt is fixed on the elastic belt connecting hole on the valve side plate on one side, and the other end of the elastic belt penetrates through the hole on the pipe clamp and is fixedly connected with the elastic belt connecting hole on the valve side plate on the other side, so that the valve is closed under the condition that the acting force is not applied, the valve is opened under the gravity of the sapling, and the sapling is closed after falling.
The further scheme is that a box body is sleeved outside the soil loosening and tree planting control module.
The working flow of the soil loosening and tree planting part is as follows:
1) The soil loosening and tree planting control module controls the electromagnet to be electrified, and the electromagnet tightly sucks the iron sheet to fixedly connect the turnover mechanism with the planting unit;
2) The second motor is controlled to work through the soil loosening and tree planting control module, and the second motor drives the drill bit to loosen soil;
3) After the soil loosening is finished, the electromagnet is controlled to be powered off through the soil loosening and tree planting control module, the electromagnet is disconnected with the iron sheet, the overturning control motor is controlled to work through the overturning control module, the overturning control motor drives the overturning transmission shaft to rotate, the overturning transmission shaft drives the side plate to overturn, and then the whole overturning mechanism and the drill bit mechanism overturn for 90 degrees; after the turnover mechanism is turned over, the tree planting pipeline is not placed in the turnover mechanism any more;
4) The plant (sapling) in the tree planting pipeline rushes open the valve body at the end part of the tree planting pipeline under the action of gravity and is planted in the scarified soil; the valve body returns under the action of the elastic band;
5) Moving the whole device to another place needing planting;
6) The turnover control motor is controlled by the turnover control module to work, the turnover control motor drives the turnover transmission shaft to rotate, and the turnover transmission shaft drives the side plate to turn over, so that the whole turnover mechanism and the drill bit mechanism are turned over and return;
7) And repeating the steps 1) -6) until the planting is finished.
According to the scheme, the soil compacting unit comprises at least two soil compacting wheel sets and a soil compacting connecting rod; the soil compaction connecting rod is fixed on a transverse crawler connecting rod of the crawler moving frame through a second connecting rod;
the soil compacting wheel set comprises two groups of soil compacting wheels, a fixing mechanism and a tension spring mechanism which are symmetrically arranged; each tamping wheel is respectively connected with a soil tamping connecting rod through a fixing mechanism, so that each tamping wheel and a balance shaft of the opposite tamping wheel form a certain included angle; each soil wheel corresponds to one tension spring mechanism, one end of each tension spring mechanism is connected with the fixing mechanism, the other end of each tension spring mechanism is connected with the soil tamping connecting rod, and the tension spring mechanisms enable the soil tamping wheels to be tightly attached to the soil to tamp the soil.
According to the scheme, the included angle between the ramming wheel and the symmetric axis is 25-35 degrees, so that the ramming is better realized.
According to the scheme, the fixing mechanism comprises 2 symmetrically arranged fixing units and wheel optical axes connected with the fixing units;
the fixed unit comprises a fixed side plate, a support printing piece and a support optical axis seat which are connected in sequence from outside to inside; the fixed side plate is connected with the soil tamping connecting rod.
According to the above scheme, the vertical cross-section that supports the printing is right trapezoid, and right trapezoid's straight waist is connected with fixed curb plate, and right trapezoid's oblique waist is connected with the support optical axis seat to make rammer soil wheel be certain contained angle with the symmetry axis, reach better rammer soil effect.
According to the scheme, a corner is cut off at the oblique waist of the right trapezoid, which is close to the lower bottom edge, so as to form a vertical edge; vertical edges are used in order to ensure parallelism of the two supporting prints, so as to better control the angle of inclination of the soil wheels.
According to the scheme, a bearing is arranged on the fixed side plate, one end of the optical axis is connected with the optical axis seat of the soil compacting wheel set, and the other end of the optical axis sequentially penetrates through the bearing on the fixed side plate of the soil compacting wheel set and then is connected with the optical axis seat of the other soil compacting wheel set; the two soil compacting wheel set smooth shaft seats are connected with the connecting rod; simple structure and convenient installation.
According to the scheme, the included angle of 25-35 degrees is formed between the optical axis of the wheel and the horizontal plane, so that the rammed earth wheel and the symmetrical shaft form a certain included angle, and a better ramming effect is achieved.
According to the scheme, the support printing pieces are installed in a staggered mode, so that a certain included angle is formed between the optical axis of each wheel and the horizontal plane, and soil tamping can be completed more stably.
According to the scheme, the tension spring mechanism comprises a tension spring and a tension spring fixing piece, one end of the tension spring is fixed on the fixed side plate of the fixing mechanism, and the other end of the tension spring is connected with the soil compaction connecting rod through the tension spring fixing piece; through setting up tensioning extension spring and extension spring mounting for the ramming wheel can paste tight soil all the time, plays the ramming effect.
After the saplings are planted in the planting points, soil of the planting points is compacted through the paired rammed soil wheels, and after compaction, the whole robot is moved to the next planting point through the crawler moving frame to be planted.
The invention has the beneficial effects that:
by arranging the plurality of soil loosening planting parts, a plurality of saplings can be planted at one time, and the planting efficiency is high;
the saplings on the transportation platform are only manually replenished and stored, and the rest are all automated, so that the automation degree is high, and the labor cost is low;
the soil loosening unit and the tree planting unit are integrated, so that the volume is reduced;
in the soil loosening stage, the tree planting pipelines of the tree planting units are arranged in the turnover mechanism; in the planting stage, the turnover mechanism is in a turnover state, and the tree planting unit is used for planting, so that the structure is simple and the operation is convenient;
the moving speed is high, and the tree planting efficiency is high;
the structures are arranged in a central symmetrical structure, so that the structure is stable and reliable;
the seedling storage device is provided with two storage structures, each storage structure comprises at least 20 drum units, the seedling storage capacity is very large, the working intensity of workers is reduced, and the seedling planting efficiency is improved;
resistance in the seedling transportation process is reduced by arranging the resistance reducing structure, so that energy consumption is reduced;
by arranging the limiting structure, the rotary drum unit can move along a preset track, so that the stability of the whole structure is improved;
by arranging the sliding structure, the whole shifting structure is convenient to move, so that the rotary drum unit is shifted, and the transportation of the saplings is realized;
the two rotary drum units are simultaneously shifted through one shifting structure, so that the conveying efficiency of the saplings is improved;
the supporting bottom plate plays a role in supporting the whole storage and transportation platform;
the limiting structure plays a role in limiting the displacement track of the rotary drum unit;
the resistance reducing structure can convert sliding friction in the movement process of the rotary drum unit into rotating friction, so that the resistance in the transportation process of the saplings is greatly reduced;
the rotating unit rotates around the limiting structure in the moving process, so that the transportation resistance is reduced;
the storage structures are symmetrically arranged, so that the friction is small, the efficiency is high, the movement speed is high, and the maintenance and repair are easy;
the whole price is low due to the fact that the printing machine is composed of a small number of customized pieces (crawler belt moving 3D printing pieces) and standard pieces;
the driving wheel is driven to move by the track moving stepping motor, so that the whole track is driven to rotate, the energy consumption is low, and the popularization and the application are convenient;
compared with the existing tree planting robot which takes the wheels as the traveling mechanism, the crawler belt is adopted, so that the tree planting robot is more suitable for the complex terrains of the desert;
the structure is simple, the installation is convenient, and the popularization and the application are convenient;
two crawler belt groups are adopted to play roles in supporting, driving and obstacle avoidance;
two supporting side plates are adopted to fix and support the crawler;
the bearing wheel is arranged to play a role in bearing;
the driving wheel is formed by stacking 3D printing pieces, so that the manufacturing cost is low and the effect is good;
due to the adoption of the crawler belt structure, the gravity center of the whole walking mechanism is lower, the obstacle can be stably avoided, and the crawler belt is suitable for desert terrains;
the symmetrical soil compacting wheels are arranged, so that the soil of one planting point is compacted, and the structure is very simple;
the soil is tamped only by the symmetrical tamping wheels, the motor drive is not needed, and the energy consumption is low;
the special structure is adopted to support the printing piece, so that two soil compacting wheels of the soil compacting wheel set form a certain included angle, and soil compacting is better realized;
the soil tamping wheel is tightly attached to the soil by adopting the tension spring, so that a good soil tamping effect is realized;
by arranging the plurality of soil compacting wheel sets, soil compaction of a plurality of planting points is realized, and the tree planting efficiency is greatly improved;
the tamping wheel of the soil pressing wheel group is always in contact with the soil and is in a tangent state, so that the soil tamping effect is good.
Drawings
The invention will be further described with reference to the following drawings and examples, in which:
FIG. 1 is a schematic structural diagram of a multi-seedling automated planting robot;
FIG. 2 is a schematic representation of a soil loosening operation of the multi-seedling automated planting robot;
FIG. 3 is a schematic view of the tree planting operation of the multi-seedling automated planting robot;
FIG. 4 is a schematic structural view of the track moving frame;
FIG. 5 is a schematic structural view of the soil loosening and tree planting part and the mounting platform;
FIG. 6 is a schematic diagram of the rollover control module;
FIG. 7 is a schematic structural view of a crawler travel frame (frameless upright);
FIG. 8 is a schematic view of the linkage of the track set and the track set connecting rods;
FIG. 9 is a schematic view of the internal structure of the track set;
FIG. 10 is a schematic view of a load-bearing wheel;
FIG. 11 is a schematic view of a driving wheel;
FIG. 12 is a schematic structural view of the storage and transportation platform (the driving lever and the driven lever are in a horizontal state);
FIG. 13 is a schematic view of the storage and transportation platform (the driving lever and the driven lever are vertical);
FIG. 14 is a schematic view of the storage and transportation platform (no-drum configuration, sliding configuration, toggle configuration, control module);
FIG. 15 is a schematic structural view of the drum unit;
FIG. 16 is a schematic structural view of a slide-moving structure and a toggle structure;
FIG. 17 is a schematic structural view of a tree planting part for loosening soil;
FIG. 18 is a schematic view of the turnover mechanism of the soil loosening and tree planting part after turning over;
FIG. 19 is a schematic view of the construction of the canting mechanism, electromagnet, and connecting transition piece;
FIG. 20 is a view showing an example of a connection structure of a tree pipe and a valve;
FIG. 21 is a schematic view of the construction of the soil compacting unit;
FIG. 22 is a schematic structural view from another perspective of the soil compacting unit;
FIG. 23 is a schematic structural view of the tamper wheel unit;
FIG. 24 is a schematic structural view of a tamper wheel unit (without tamper wheels);
FIG. 25 is a schematic view of a structure for supporting a print member;
in the figure, 1, a crawler belt moving frame; 2. mounting a platform; 3. a synchronous belt mounting plate; 4. planting fixing plates for loosening soil; 5. lifting a synchronous belt; 6. a soil loosening planting lifting motor; 7. a storage and transportation platform; 9. a soil compacting unit; 1.2, lifting the slide rail; 1.4, a frame upright post; 1.5, planting a fixed support for loosening soil; 2.2, overturning the control platform; 2.3, a first overturning synchronous belt; 2.4, a first overturning transmission shaft; 2.2.1, a second overturning gear; 2.2.2, overturning the optical axis bearing seat; 2.2.3, a first overturning optical axis; 2.2.4, overturning the copper column; 2.2.6, overturning a control motor;
l1, a crawler belt group; l1.1, a crawler belt; l1.2, supporting the side plate; l1.3, a crawler driving wheel; l1.31, crawler-moving the 3D printing piece; l1.32, epoxy ring; l1.4, driving the wheel optical axis seat; l1.5, a bearing wheel; l1.51, epoxy resin board; l1.52, a bearing wheel optical axis; l1.53, a bearing; l1.6, a bearing wheel optical axis seat; l1.7, copper columns; l2, a track moving stepping motor; l3, a connecting structure; l3.1, a transverse connecting rod of the crawler; l3.2 crawler group connecting rods; l4, corner connectors; l5, a plum coupling;
t1, supporting a bottom plate; t2, supporting structure; t2.1, bull's eye; t2.2, an outer ring limiting plate; t2.3, 3D printing support; t2.4, a bearing fixing plate; t2.5, six-sided nuts; t2.6, inner ring limiting plates; t2.7, rotating a bearing; t2.8, a drum baffle; t3, a toggle structure; t3.1, an active deflector rod; t3.2, a rocker bearing seat; t3.3, a support plate; t3.4, a driven deflector rod; t3.5, fixing the hinged support; t3.6, a steering engine seat; t4, a drum unit; t4.1, plastic pipes; t4.2, a first bearing; t5, a sliding structure; t6, a first connecting rod; t7, storing and transporting the motor; t8, a steering engine;
p1, fixing a printing piece by a pipeline; p2, top platform; p3, an electromagnet; p4, iron sheets; p6, six-sided nuts; p7, pipe clamp; p7.1, a cylinder; p7.2, well; p9, side plates; p10, a tree planting pipeline; p11, a second motor; p12, a valve; p12.1, a valve side plate; p12.1.1, mounting holes; p12.1.2, connecting holes of the elastic belt; p12.2, a valve top plate; p12.3, a valve body; p13, a drill bit; p14, connecting pieces; p15, turning over the bearing seat; p16, connecting a transition piece, P17 and a bottom plate;
c1, tamping a connecting rod in soil; c2, a soil compacting wheel set optical axis seat; c3, tensioning a tension spring; c4, a ramming wheel unit; c4.1, supporting a printing piece; c4.2, fixing the side plate; c4.3, a wheel optical axis; c4.4, a soil tamping wheel; c4.5, supporting the optical axis seat; c4.6, a bearing; c5, an optical axis; c6, a tension spring fixing piece.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1 to 25, the multi-seedling automatic planting robot comprises a crawler moving frame 1, a storage and transportation platform 7, a soil loosening planting part and a soil compacting unit. The crawler moving frame 1 is used for driving the whole robot to walk and supporting the whole robot. The storage and transportation platform 7 is arranged at the top of the crawler belt moving frame 1 and used for storing and transporting a plurality of saplings simultaneously. Planting portion that loosens the soil has a plurality ofly, arranges in on the crawler travel frame 1 for soil to a plurality of planting point's soil loosens the soil, and the soil after loosening the soil carries out the planting of a plurality of saplings simultaneously. The soil tamping unit is arranged on one side of the bottom of the crawler moving frame 1 and used for simultaneously tamping a plurality of planted soil.
The crawler moving frame 1 is used as a walking mechanism of the robot and comprises a frame support, a connecting structure L3, a crawler group L1 and a crawler moving control unit. The frame support comprises 4 frame uprights 1.4. The connecting structure L3 comprises a transverse crawler connecting rod L3.1 and a crawler group connecting rod L3.2. Two transverse connecting rods L3.1 of the crawler belt are arranged in parallel. The transverse connecting rod L3.1 of the crawler is connected with the connecting rod L3.2 of the crawler group through an angle bracket L4 and a trapezoidal nut to form a chassis. The crawler belt groups L1 are two and are respectively positioned at two ends of a crawler belt transverse connecting rod L3.1 and comprise crawler belts L1.1, supporting side plates L1.2, crawler belt driving wheels L1.3 and bearing wheels L1.5. Support curb plate L1.2 have two, are located track L1.1 both sides respectively, and two support curb plate L1.2 are connected through copper post L1.7 (100 mm). Each track group is provided with 2 track group connecting rods L3.2, and the track group connecting rods L3.2 are connected with the supporting side plates L1.2 through trapezoidal nuts. Four frame columns 1.4 are arranged in parallel and are respectively connected with a crawler belt group connecting rod L3.2 and a crawler belt transverse connecting rod L3.1; the crawler drive wheel L1.3 comprises a crawler movement 3D print L1.31 and an epoxy ring L1.32 arranged around the crawler movement 3D print L1.31. The bearing wheel L1.5 is fixed on the supporting side plate L1.2 through a bearing wheel optical axis seat L1.6 and a bearing wheel optical axis L1.52. The inner side of the track L1.1 is provided with a groove for placing the bearing wheel and limiting the bearing wheel.
The crawler movement control unit comprises a crawler movement stepping motor L2 and a crawler movement controller which are arranged in the box body; the crawler belt moving stepping motor L2 is connected with the crawler belt driving wheel L1.3 through a plum blossom coupling L5, the crawler belt moving controller controls the crawler belt moving stepping motor L2 to work, and the crawler belt moving stepping motor L2 drives the crawler belt driving wheel L1.3 to move, so that the crawler belt L1.1 is driven to move. The crawler movement controller controls the crawler movement stepping motor L2 to work through data transmitted by an electronic compass and an infrared coding disc which are arranged on the supporting side plate L1.2, and further controls the running speed and direction of the crawler.
In this embodiment, the tracked moving 3D print L1.31 comprises a drive wheel body and teeth on the drive wheel body which mate with the teeth on the track L1.1. The bearing wheel L1.5 comprises an epoxy resin plate L1.51 with a bearing L1.53 and a copper column L1.7 (32 mm); the two epoxy resin plates L1.51 are connected through copper columns L1.7 to form a bearing wheel body. In this embodiment, there are a plurality of bearing wheels L1.5, which are mounted on the lower portion of the supporting side plate L1.2. The crawler L1.1 is an XH square tooth synchronous belt.
The storage and transportation platform 7 comprises a supporting bottom plate T1, a storage structure, 2 resistance reduction structures used for reducing the motion resistance of the storage structure, 2 limiting structures used for limiting the displacement track of the storage structure, a sliding structure T5 (a sliding block guide rail set), a shifting structure and a storage and transportation control module. The drag reduction structure and the drag reduction structure constitute a support structure T2. The support bottom plate T1 is fixed on a frame support of the crawler belt moving frame 1, and at least 4 output ports are arranged on the support bottom plate. The storage structure has two, and the symmetry sets up, arranges in on supporting baseplate T1, and it includes annular arrangement's at least 20 rotary drum units T4. Each drum unit T4 comprises a plastic tube T4.1, a first bearing T4.2; the first bearing T4.2 is sleeved on the plastic pipe T4.1 and is in interference fit with the plastic pipe T4.1. The mode that the first bearing T4.2 is sleeved on the plastic pipe T4.1 is convenient for the rotary drum unit to realize drag reduction under the action of the drag reduction structure, and the energy consumption is reduced. One memory structure corresponds to one drag reduction structure. The resistance reducing structure comprises an inner ring resistance reducing mechanism and an outer ring resistance reducing mechanism which are arranged on the supporting base plate T1, the inner ring resistance reducing mechanism is arranged in the outer ring resistance reducing mechanism, and a motion track of a rotary drum unit T4 of a storage structure is arranged between the inner ring resistance reducing mechanism and the outer ring resistance reducing mechanism. The inner ring drag reduction mechanism and the outer ring drag reduction mechanism both comprise annular drag reduction formed by a bull-eye wheel T2.1 and a rotating bearing T2.7, the annular drag reduction consists of 2 straight edges and two arc-shaped edges, the bull-eye wheel T2.1 is arranged on the arc-shaped edges, and the rotating bearing T2.7 is arranged on the straight edges; the bull eye wheel T2.1 is arranged on the support bottom plate T1; the rotating bearing T2.7 is connected with a bearing fixing plate T2.4, and the bearing fixing plate T2.4 is fixedly connected with the support base plate T1. In the embodiment, the drag reduction structure adopts four groups of bull-eye wheels and eight groups of rotating bearings, wherein one group of bull-eye wheels at least comprises 28 bull-eye wheels T2.1 and are fixed on the supporting base plate through nuts; a set of rotating bearing at least comprises 18 rotating bearings T2.7, 9 six-sided nuts T2.5 and a bearing fixing plate T2.4, wherein the rotating bearings T2.7 are fixed on the bearing fixing plate T2.4 through bolts, and the bearing fixing plate T2.4 is fixed on the supporting base plate T1 through the six-sided nuts T2.5 and the bolts. One storage structure corresponds to one limit structure. The limiting structure comprises an inner ring limiting plate T2.6, an outer ring limiting plate T2.2 and a rotary drum baffle T2.8. The outer ring limiting plate T2.2 is annular, is fixed on the supporting bottom plate T1 and is positioned on the outer ring drag reduction mechanism. The inner ring limiting plate T2.6 is annular, is arranged in the outer ring limiting plate T2.2, is fixed on a bearing fixing plate T2.4 of the resistance reducing structure by bolts and is positioned on the inner ring resistance reducing mechanism. And the motion trail of the rotary drum unit T4 with a storage structure is arranged between the inner ring limiting plate T2.6 and the outer ring limiting plate T2.2. The rotary drum baffle T2.8 is connected with the inner ring limit plate T2.6. In the present embodiment, the outer ring limiting plate T2.2 includes an annular epoxy resin plate and a cylindrical 3D printing support T2.3; one end of the 3D printing piece support T2.3 is connected with the epoxy resin plate through a bolt, and the other end of the 3D printing piece support T2.3 is connected with the support bottom plate T1 through a bolt and a nut. The sliding structure T5 comprises a sliding rail and a sliding block, the sliding rail is arranged on the supporting base plate T1, the sliding block is connected with a supporting plate T3.3 of the shifting structure T3, and the sliding block can slide on the sliding rail. The shifting structure T3 comprises a support plate T3.3, a driving shifting lever T3.1 and a driven shifting lever T3.4. The supporting plate T3.3 is connected with a storage and transportation motor T7 for storing and transporting the control module through a first connecting rod T6, and the storage and transportation motor T7 drives the supporting plate T3.3 to slide along the sliding structure T5. The driving deflector rod T3.1 is sleeved on the optical axis of the driving deflector rod, one end of the optical axis of the driving deflector rod is connected with a steering engine T8 of the storage and transportation control module, the other end of the optical axis of the driving deflector rod is connected with a deflector rod bearing seat T3.2, and the deflector rod bearing seat T3.2 is connected with a support plate T3.3; the steering engine T8 works to drive the driving deflector rod T3.1 to move, so that the driving deflector rod T3.1 is in a horizontal state or a vertical state. The driven deflector rod T3.4 is sleeved on the optical axis of the driven deflector rod, two ends of the optical axis of the driven deflector rod are respectively connected with the deflector rod bearing seat T3.2, and the deflector rod bearing seat T3.2 is connected with the supporting plate T3.3; the teeth on the driven deflector rod T3.4 are matched with the teeth on the driving deflector rod T3.1; the driving deflector rod T3.1 moves to drive the driven deflector rod T3.4 to move, so that the state of the driven deflector rod T3.4 is the same as that of the driving deflector rod T3.1 (namely, the driven deflector rod T3.1 is in a horizontal state or a vertical state at the same time), and the rotary drum units T4 of 2 storage structures are simultaneously swept.
The storage and transportation control module comprises a storage and transportation motor T7, a steering engine T8 and a storage and transportation controller. The storage and transportation motor T7 is arranged on the support bottom plate T1 and is electrically connected with the storage and transportation controller. Store transportation motor T7 and be connected with first connecting rod T6's one end, first connecting rod T6's the other end is connected with toggle structure's backup pad T3.3 through fixed hinge support T3.5, stores the motion of transportation motor T7 drive first connecting rod T6, and then drives toggle structure and slide along sliding structure. Steering wheel T8 installs on rudder frame T3.6, and steering wheel frame T3.6 installs on backup pad T3.3, and steering wheel T8 is connected with storing the transportation controller electricity. The steering engine T8 controls the driving deflector rod T3.1 of the deflector structure to work, even if the driving deflector rod T3.1 is in a horizontal state or a vertical state. Toggle the structure and under the effect of storing transportation control module, stir 2 rotary drum units T4 of storage structure simultaneously, make rotary drum unit T4 move along limit structure's restriction orbit, make the sapling along the delivery outlet output in the rotary drum unit T4. In a preferred embodiment, the storage and transportation motor T7, the storage and transportation controller may be disposed within the cabinet.
The number of the soil loosening tree planting parts is 4, the soil loosening planting fixing plates 4 are fixedly connected with 4 frame columns 104 of the crawler moving frame 1 through the mounting platform 2 (the mounting platform 2 is fixed on the soil loosening planting fixing plates 4 through soil loosening planting fixing supports 1.5), sliding blocks are arranged on the soil loosening planting fixing plates 4, lifting sliding rails 1.2 are arranged on the frame columns 1.4, and the soil loosening planting fixing plates 4 slide along the frame columns 1.4 through the sliding blocks and the sliding rails; the soil loosening planting fixing plates 4 on the same side are connected through a fixing plate connecting rod, and a synchronous belt mounting plate 3 is arranged on the fixing plate connecting rod; the lift hold-in range 5 is fixed at hold-in range mounting panel 3, and the tree planting elevator motor that loosens the soil 6 drives the fixed plate connecting rod through lift hold-in range 5 and reciprocates, and then drives the tree planting portion that loosens the soil and reciprocate.
The tree planting part loosens the soil comprises a tree planting unit, a soil loosening unit and a tree planting control module. The tree planting unit is used for conveying planted plants and comprises a top platform P2, a tree planting pipeline P10 and a valve P12. The inlet of the tree planting pipeline is matched with the output port on the supporting bottom plate T1 of the storage and transportation platform 7; the tree planting pipeline P10 penetrates through the mounting platform 2 and the top platform P2 and then extends into the turnover mechanism, and after the turnover mechanism turns over, the tree planting unit can only plant trees. The upper end of the tree planting pipeline P10 is fixed on the top platform P2 through a pipeline fixing printing piece P1; the lower portion of the top deck P2 is connected to a connecting transition piece P16. The lower end of the tree planting pipeline P10 is provided with a valve P12, and the valve P12 is fixed on the tree planting pipeline P10 through a pipe clamp P7. The pipe clamp P7 has an inner diameter equal to that of the tree planting pipe P10 and a thickness of 2mm. The valve P12 comprises 2 valve side plates P12.1, a valve top plate P12.2, a valve body P12.3 and an elastic band; the 2 valve side plates P12.1 are respectively positioned at two sides of the valve top plate P12.2, and the 2 valve side plates P12.1, the valve top plate P12.2 and the valve body P12.3 are fixed through six-sided nuts; the valve body P12.3 is arranged at the inclined pipe orifice of the tree planting pipeline P10, and the valve body P12.3 is matched with the inclined pipe orifice of the tree planting pipeline P10; the 2 valve side plates P12.1 and the valve top plate P12.2 are epoxy resin plates. The middle part of each valve side plate P12.1 is provided with a mounting hole P12.1.1, and the tail part is provided with an elastic belt connecting hole P12.1.2; a cylinder P7.1 on the pipe clamp P7 penetrates through the mounting hole P12.1.1 and then is fixed by a nut, and a valve side plate P12.1 can rotate around the cylinder P7.1 (the circle center of the valve P12 is the circle center of the cylinder P7.1); one end of the elastic belt is fixed on an elastic belt connecting hole P12.1.2 on the valve side plate P12.1 on one side, the other end of the elastic belt penetrates through a hole P7.2 on the pipe clamp P7 and then is fixedly connected with an elastic belt connecting hole P12.1.2 on the valve side plate P12.1 on the other side, the valve is guaranteed to be closed under the condition that the acting force is not applied, when the tree planting unit works, after plants are conveyed to the tree planting pipeline P10, the valve P12 is pressed by the gravity of the saplings to be opened, and the saplings are closed after falling.
The soil loosening and tree planting control module comprises a turnover control module. The upset control module includes upset control platform 2.2, upset control motor 2.2.6, first upset optical axis 2.2.3, upset gear train, second upset optical axis, upset synchronizing wheel, first upset hold-in range 2.3, second upset hold-in range, first upset transmission shaft, second upset transmission shaft. The overturning control platform 2.2 is connected with the mounting platform 2 through an overturning copper column 2.2.4, an overturning control motor 2.2.6 is arranged on the overturning control platform 2.2, the overturning control motor 2.2.6 is connected with a first overturning gear of an overturning gear set through a first overturning optical axis 2.2.3, a second overturning optical axis is connected with a second overturning gear 2.2.1 of the overturning gear set, and the second overturning gear 2.2.1 is meshed with the first overturning gear; the first overturning synchronous belt 2.3 is sleeved on an overturning synchronous wheel on the first overturning optical axis 2.2.3 and an overturning synchronous wheel on the first overturning transmission shaft 2.4; the second overturning synchronous belt is sleeved on an overturning synchronous wheel on a second overturning optical axis and an overturning synchronous wheel on a second overturning transmission shaft; two ends of the turnover transmission shaft (the first turnover transmission shaft 2.4 and the second turnover transmission shaft) are respectively connected with the turnover bearing seats P15 and the side plates P9 of the two turnover mechanisms at the same side; the second turnover optical axis is arranged on the turnover optical axis bearing seat 2.2.2; the work of upset control motor 2.2.6, drive first upset optical axis 2.2.3 and rotate, first upset optical axis 2.2.3 drives first upset gear and rotates, first upset gear drives second upset gear 2.2.1, second upset gear 2.2.1 drives second upset optical axis and rotates, first upset optical axis, second upset optical axis drives first upset hold-in range 2.3 respectively, second upset hold-in range motion, first upset hold-in range 2.3, second upset hold-in range drives first upset transmission shaft 2.4 respectively, second upset transmission shaft rotates, first upset transmission shaft 2.4 drives two tilting mechanism upsets of homonymy, second upset transmission shaft drives two tilting mechanism upsets of homonymy.
The soil loosening unit is used for loosening soil and comprises a turnover mechanism, a drill bit mechanism and an electromagnet mechanism. The turnover mechanism comprises a turnover bearing seat P15, a side plate P9 and a bottom plate P17. The overturning transmission shaft is connected with the upper ends of the bearing seat P15 and the side plate P9; the overturning bearing seat P15 is fixedly connected with a connecting transition piece P16 of the seed tree unit. 2 side plates P9 are respectively positioned at two sides of the tree planting pipeline P10 and are connected through strength support members P14 (copper columns, printing members and bolts); the bottom plate P17 is fixed at the lower ends of the 2 side plates P9 through six-sided nuts. The turnover control motor drives the turnover transmission shaft to rotate, and the turnover transmission shaft drives the side plate and the bottom plate to rotate.
The drill bit mechanism comprises a second motor P11 and a drill bit P13, and the second motor P11 is arranged on a bottom plate of the turnover mechanism; the center line of the drill bit P13 is on the same line with the center line of the tree pipe P10. The drill bit P13 is a miniature single-head drill bit, and the diameter of the central shaft of the miniature single-head drill bit is P8mm; the second motor P11 is a brushless P7-shaped motor, and the diameter of an output shaft of the second motor is 5mm. The control module controls the second motor P11 to work, and the second motor P11 drives the drill bit P13 to loosen the soil.
The electromagnet mechanism comprises an electromagnet P3 and an iron sheet P4. The electromagnet P3 is arranged on a connecting transition piece P16 of the tree planting unit; the iron sheet P4 is arranged on a side plate P9 of the turnover mechanism through a hexahedral nut P6, when the soil loosening unit needs to loosen soil, the soil loosening and tree planting control module enables the electromagnet P3 to be electrified, and the electromagnet P3 tightly attracts the iron sheet P4; when the tree planting unit is required to work, the electromagnet 3 is powered off, and the soil loosening unit is driven to overturn.
The soil loosening and tree planting control module controls the turnover mechanism, the drill bit mechanism and the electromagnet mechanism to work; when the loosening and tree planting control module enables the electromagnet P3 to be electrified, the side plate of the turnover mechanism and the connecting transition piece P16 of the tree planting unit are fixed, and a drill bit P13 of the drill bit mechanism loosens the soil; when the tree planting control module loosens the soil makes electromagnet P3 cut off the power supply, the tree planting control module loosens the soil controls the turnover mechanism to turn over, and the tree planting control module loosens the soil controls the tree planting unit to perform tree planting operation.
The soil compacting unit 9 completes soil compaction under the condition of no energy consumption, and comprises two soil compacting wheel sets and a soil compacting connecting rod C1, and the soil compacting connecting rod C1 is fixed on a transverse crawler connecting rod L3.1 of the crawler moving frame 1 through a second connecting rod. Of course, a plurality of soil compacting wheel sets can be arranged according to the requirement so as to compact a plurality of planting points simultaneously.
The soil compacting wheel group comprises two groups of soil compacting wheel units C4 which are symmetrically arranged. The soil compacting wheel unit C4 comprises a soil compacting wheel C4.4, a fixing mechanism and a tension spring mechanism. Each soil compacting wheel C4.4 is respectively connected with the soil compacting connecting rod C1 through a fixing mechanism, so that each soil compacting wheel C4.4 forms an included angle of 30 degrees with the symmetrical shaft; each soil compacting wheel C4.4 corresponds to a tension spring mechanism.
The fixing mechanism comprises 2 fixing units which are symmetrically arranged and 8mm wheel optical axes C4.3. The fixed unit comprises a fixed side plate C4.2, a supporting printing piece C4.1 and a supporting optical axis seat C4.5 which are sequentially connected from outside to inside, and the wheel optical axis C4.3 is respectively connected with the supporting optical axis seat C4.5 of the fixed unit. A bearing C4.6 is arranged on the fixed side plate C4.2; one end of the optical axis C5 is connected with the optical axis seat C2 of the soil compacting wheel set, and the other end of the optical axis C5 is connected with the optical axis seat C2 of the other soil compacting wheel set after sequentially penetrating through a bearing C4.6 on a fixed side plate C4.2 of the soil compacting wheel set; the two soil compacting wheel set optical axis seats C2 are connected with a soil compacting connecting rod C1.
In this embodiment, the vertical cross-section that supports print C4.1 is right trapezoid, and right trapezoid's straight waist passes through the bolt and nut to be connected with fixed curb plate C4.2, and right trapezoid's oblique waist passes through the bolt and is connected with supporting optical axis seat C4.5. A corner is cut off at the inclined waist of the right trapezoid near the lower bottom edge to form a vertical edge; the vertical edge is adopted so as to ensure the parallelism of the two support printing pieces, so that the inclination angle of the soil compacting wheel C4.4 can be better controlled, and the soil compacting work can be stably completed.
In this embodiment, the support prints C4.1 are staggered (one vertical edge supporting the print C4.1 on top and one vertical edge supporting the print C4.1 on bottom) so that the wheel's optical axis C4.3 makes an angle of 30 ° with the horizontal.
In this embodiment, extension spring mechanism includes tensioning extension spring C3 and extension spring mounting C6, and tensioning extension spring C3's one end is fixed on fixed curb plate C4.2 of fixed establishment, and the other end is connected with extension spring mounting C6, and extension spring mounting C6 passes through the bolt and trapezoidal nut is connected with soil compaction connecting rod C1. Through tensioning of the tension spring C3 and the tension spring fixing piece C6, the soil compacting wheel C4.4 can be always attached to the soil tightly, and the soil compacting effect is achieved.
It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.
Claims (10)
1. The utility model provides an automatic planting robot of many saplings which characterized in that: the soil-loosening and planting device comprises a crawler moving frame, a storage and transportation platform, a soil-loosening planting part and a soil compacting unit;
the crawler moving frame is used for driving the whole automatic planting robot to walk and supporting the whole automatic planting robot;
the storage and transportation platform is arranged at the top of the crawler mobile frame and is used for storing and transporting a plurality of saplings simultaneously;
the plurality of soil loosening planting parts are arranged on the crawler moving frame and used for loosening soil of a plurality of planting points and simultaneously planting a plurality of saplings in the loosened soil;
the soil tamping unit is arranged on one side of the bottom of the crawler moving frame and used for simultaneously tamping a plurality of planted soil.
2. The multi-seedling automated planting robot of claim 1, wherein:
the crawler moving frame comprises a frame support, a connecting structure, a crawler group and a crawler moving control unit;
the frame support comprises 4 frame upright posts;
the connecting structure comprises two crawler transverse connecting rods and crawler group connecting rods, and the crawler transverse connecting rods are arranged in parallel and connected with the crawler group connecting rods;
the two crawler belt groups are respectively positioned at two ends of the transverse connecting rod of the crawler belt and comprise crawler belts, supporting side plates, crawler belt driving wheels and bearing wheels; the two supporting side plates are respectively positioned on two sides of the crawler belt and are connected through copper columns; each crawler group is provided with 2 crawler group connecting rods which are respectively connected with the supporting side plates on the two sides; the four frame columns are arranged in parallel and are respectively connected with the crawler belt group connecting rod and the crawler belt transverse connecting rod; the crawler driving wheel comprises a crawler moving 3D printing piece and an epoxy resin ring annularly arranged on the crawler moving 3D printing piece, and the crawler driving wheel drives the crawler to move under the action of a crawler moving stepping motor of the control unit; the bearing wheel is arranged on one supporting side plate;
the crawler movement control unit comprises a crawler movement stepping motor and a crawler movement controller, and the crawler movement controller controls the crawler movement stepping motor to work so as to drive the crawler to move.
3. The multi-seedling automated planting robot of claim 2, wherein: the crawler moving 3D printing part comprises a driving wheel body and teeth positioned on the driving wheel body, and the teeth are matched with the teeth on the crawler;
the inside of the crawler belt is provided with a groove for placing the bearing wheel and limiting the bearing wheel.
The crawler movement controller controls the crawler movement stepping motor to work through data transmitted by an electronic compass and an infrared coding disc which are arranged on the supporting side plate, and further controls the speed and the direction of the crawler.
4. The multi-seedling automated planting robot of claim 1, wherein:
the storage and transportation platform comprises a supporting bottom plate, a storage structure, 2 resistance reducing structures for reducing the motion resistance of the storage structure, 2 limiting structures for limiting the displacement track of the storage structure, a sliding structure, a shifting structure and a storage and transportation control module;
the support bottom plate is fixed on a frame support of the crawler moving frame and is provided with at least 4 output ports;
the two storage structures are symmetrically arranged, are arranged on the supporting bottom plate and comprise at least 20 rotating drum units which are annularly arranged; the rotary drum unit comprises a plastic pipe and a first bearing, and the first bearing is sleeved on the plastic pipe and is in interference fit with the plastic pipe;
one storage structure corresponds to one resistance reducing structure, and the resistance reducing structure is fixed on the support bottom plate;
one storage structure corresponds to one limiting structure, and the limiting structure is fixed on the supporting bottom plate;
the sliding structure is arranged on the support bottom plate; the shifting structure is arranged on the sliding structure; the control module controls the shifting structure to slide on the sliding structure;
the stirring structure stirs the rotary drum units of the 2 storage structures simultaneously under the action of the storage and transportation control module, so that the rotary drum units move along the limiting track of the limiting structure.
5. The multi-seedling automated planting robot of claim 4, wherein:
the storage and transportation control module comprises a storage and transportation motor, a steering engine and a storage and transportation controller; the storage and transportation motor and the steering engine are electrically connected with the storage and transportation controller; the storage and transportation motor is connected with the shifting structure through a first connecting rod, and the storage and transportation motor works to drive the shifting structure to slide along the sliding structure; the steering engine controls an active shifting rod of the shifting structure to work;
the shifting structure comprises a supporting plate, a driving shifting rod and a driven shifting rod; the supporting plate is connected with a motor of the control module through a connecting rod, and the motor drives the supporting plate to slide along the sliding structure; the driving deflector rod is sleeved on the optical shaft, one end of the optical shaft is connected with a steering engine of the control module, the other end of the optical shaft is connected with a bearing seat, and the bearing seat is connected with the supporting plate; the steering engine works to drive the driving deflector rod to move, so that the driving deflector rod is horizontally or vertically arranged; the driven deflector rod is sleeved on the optical axis, two ends of the optical axis are respectively connected with the bearing seats, and the bearing seats are connected with the supporting plate; the teeth on the driven deflector rod are matched with the teeth on the driving deflector rod; the driving deflector rod moves to drive the driven deflector rod to move, so that the state of the driven deflector rod is the same as that of the driving deflector rod, and the 2 rotary drum units with the storage structures are simultaneously shifted;
the resistance reducing mechanism comprises an inner ring resistance reducing mechanism and an outer ring resistance reducing mechanism which are arranged on the supporting base plate, the inner ring resistance reducing mechanism is arranged in the outer ring resistance reducing mechanism, and a motion track of a drum unit of a storage structure is arranged between the inner ring resistance reducing mechanism and the outer ring resistance reducing mechanism; the inner ring resistance reducing mechanism and the outer ring resistance reducing mechanism both comprise annular resistance reducing formed by a bull-eye wheel and a rotating bearing, the annular resistance reducing consists of 2 straight edges and two arc-shaped edges, the bull-eye wheel is arranged on the arc-shaped edges, and the rotating bearing is arranged on the straight edges; the bull's eye wheels are arranged on the supporting bottom plate; the rotating bearing is fixed on a bearing fixing plate, and the bearing fixing plate is fixed on the supporting bottom plate;
the limiting structure comprises an inner ring limiting plate, an outer ring limiting plate and a rotary drum baffle; the outer ring limiting plate is annular, is fixed on the supporting bottom plate and is positioned on the outer ring resistance reducing mechanism; the inner ring limiting plate is annular, is arranged in the outer ring limiting plate, is fixed on the bearing fixing plate of the resistance reducing structure and is positioned on the inner ring resistance reducing mechanism; the motion trail of the rotary drum unit with the storage structure is arranged between the inner ring limiting plate and the outer ring limiting plate; and the rotary drum baffle is connected with the inner ring limiting plate.
6. The multi-seedling automated planting robot of claim 1, wherein:
the soil compaction unit comprises at least two soil compaction wheel sets and a soil compaction connecting rod; the soil compaction connecting rod is fixed on a transverse crawler connecting rod of the crawler moving frame through a second connecting rod;
the soil compacting wheel set comprises two groups of soil compacting wheels, a fixing mechanism and a tension spring mechanism which are symmetrically arranged; each ramming wheel is connected with the soil ramming connecting rod through a fixing mechanism respectively, so that each ramming wheel and the symmetrical shaft form a certain included angle; each tamping wheel corresponds to one tension spring mechanism, one end of each tension spring mechanism is connected with the fixing mechanism, the other end of each tension spring mechanism is connected with the soil tamping connecting rod, and the tension spring mechanisms enable the tamping wheels to be tightly attached to soil to achieve soil tamping.
7. The multi-seedling automated planting robot of claim 6, wherein:
the included angle between the ramming wheel and the symmetric shaft is 25-35 degrees;
the fixing mechanism comprises 2 symmetrically arranged fixing units and wheel optical axes connected with the fixing units; the fixing unit comprises a fixing side plate, a supporting printing piece and a supporting optical axis seat which are sequentially connected from outside to inside; the fixed side plate is connected with the connecting rod; the vertical section of the supporting printing piece is in a right trapezoid shape, the straight waist of the right trapezoid is connected with the fixed side plate, and the inclined waist of the right trapezoid is connected with the supporting optical axis seat; a corner is cut off on the oblique waist of the right trapezoid near the lower bottom edge to form a vertical edge.
8. The multi-seedling automated planting robot of claim 1, wherein:
the number of the soil loosening tree planting parts is 4, the soil loosening tree planting parts are connected with soil loosening planting fixing plates on 4 frame columns of the crawler moving frame through the mounting platform, and the soil loosening planting fixing plates can slide along the frame columns; the soil loosening planting fixing plates on the same side are connected through a fixing plate connecting rod, and a synchronous belt mounting plate is arranged on the fixing plate connecting rod; the lifting synchronous belt is fixed on the synchronous belt mounting plate, and the soil loosening and tree planting lifting motor drives the fixing plate connecting rod to move up and down through the lifting synchronous belt so as to drive the soil loosening and tree planting part to move up and down;
the soil loosening tree planting part comprises a soil loosening unit, a tree planting unit and a soil loosening tree planting control module;
the soil loosening unit is used for loosening soil and comprises a turnover mechanism, a drill bit mechanism and an electromagnet mechanism, wherein the upper end of the turnover mechanism is connected with the tree planting unit, the drill bit mechanism is connected with the lower end of the turnover mechanism, the electromagnet mechanism enables the turnover mechanism and the tree planting unit to be fixed under the power-on condition, and the turnover mechanism can realize turnover under the power-off condition;
the tree planting unit is used for conveying planted plants and comprises a top platform and a tree planting pipeline, and an inlet of the tree planting pipeline is matched with an output port on a supporting bottom plate of the storage and transportation platform; the tree planting pipeline penetrates through the mounting platform and the top platform and then extends into the turnover mechanism, and after the turnover mechanism turns over, the tree planting unit can only plant trees;
the soil loosening and tree planting control module controls the turnover mechanism, the drill bit mechanism and the electromagnet mechanism to work; when the soil loosening and tree planting control module enables the electromagnet mechanism to be powered on, the overturning mechanism and the tree planting unit are fixed, and the drill bit mechanism is used for soil loosening operation; when the tree planting control module loosens the soil makes the electromagnet mechanism power off, the tree planting control module loosens the soil controls the turnover mechanism to overturn, and the tree planting control module loosens the soil controls the tree planting unit to perform tree planting operation.
9. The multi-seedling automated planting robot of claim 8, wherein:
the soil loosening and tree planting control module comprises a turnover control module, and the turnover control module comprises a turnover control platform, a turnover control motor, a first turnover optical axis, a turnover gear set, a second turnover optical axis, a turnover synchronizing wheel, a first turnover synchronous belt, a second turnover synchronous belt, a first turnover transmission shaft and a second turnover transmission shaft; the overturning control platform is connected with the mounting platform through an overturning copper column, the overturning control motor is arranged on the overturning control platform, the overturning control motor is connected with a first overturning gear of the overturning gear set through a first overturning optical axis, a second overturning optical axis is connected with a second overturning gear of the overturning gear set, and the second overturning gear is meshed with the first overturning gear; the first overturning synchronous belt is sleeved on an overturning synchronous wheel on the first overturning optical axis and an overturning synchronous wheel on the first overturning transmission shaft; the second overturning synchronous belt is sleeved on an overturning synchronous wheel on a second overturning optical axis and an overturning synchronous wheel on a second overturning transmission shaft; two ends of the first turnover transmission shaft and the second turnover transmission shaft are respectively connected with the turnover bearing seats and the side plates of the two turnover mechanisms at the same side; the turnover control motor works to drive the first turnover optical shaft to rotate, the first turnover optical shaft drives the first turnover gear to rotate, the first turnover gear drives the second turnover gear, the second turnover gear drives the second turnover optical shaft to rotate, the first turnover optical shaft and the second turnover optical shaft respectively drive the first turnover synchronous belt and the second turnover synchronous belt to move, the first turnover synchronous belt and the second turnover synchronous belt respectively drive the first turnover transmission shaft and the second turnover transmission shaft to rotate, the first turnover transmission shaft drives two turnover mechanisms at the same side to turn over, and the second turnover transmission shaft drives two turnover mechanisms at the same side to turn over;
the turnover mechanism comprises a turnover bearing seat, side plates and a bottom plate;
the overturning bearing seat is fixedly connected with the tree planting unit; the number of the side plates is 2, the side plates are respectively positioned on two sides of the tree planting pipeline and are connected through strength supporting pieces; the bottom plate is connected with the lower ends of the 2 side plates; the turnover control motor drives the turnover transmission shaft to rotate, and the turnover transmission shaft drives the side plate and the bottom plate to rotate;
the drill bit mechanism comprises a second motor and a drill bit, and the second motor is arranged on a bottom plate of the turnover mechanism; the central line of the drill bit and the central line of the tree planting pipeline are on the same straight line; the soil loosening and tree planting control module controls a second motor to work, and the second motor drives a drill bit to loosen soil;
the electromagnet mechanism comprises an electromagnet and an iron sheet; the electromagnet is arranged on a connecting transition piece of the tree planting unit, the iron sheet is arranged on a side plate of the turnover mechanism, and when the soil loosening unit is required to loosen soil, the electromagnet is electrified and tightly absorbs the iron sheet; when the tree planting unit is needed to work, the electromagnet is powered off, and the soil loosening unit is driven to overturn.
10. The multi-seedling automated planting robot of claim 8, wherein:
the lower end of the tree planting pipeline is provided with a valve, and the valve is fixed on the tree planting pipeline through a pipe clamp; when the tree planting unit works, after the plants are conveyed to the tree planting pipeline, the plants push the valve open under the action of gravity and are planted in the soil loosened by the drill bit mechanism;
the valve comprises 2 valve side plates, a valve top plate, a valve body and an elastic band; the 2 valve side plates are respectively positioned at two sides of the valve top plate, and the 2 valve side plates, the valve top plate and the valve body are fixed through six-sided nuts; the valve body is arranged at the inclined pipe orifice of the tree planting pipeline and is matched with the inclined pipe orifice of the tree planting pipeline;
the middle part of each valve side plate is provided with a mounting hole, and the tail part of each valve side plate is provided with an elastic belt connecting hole; the cylinder on the pipe clamp penetrates through the mounting hole and then is fixed by the nut, and the valve side plate can rotate around the cylinder; one end of the elastic belt is fixed on the elastic belt connecting hole on the valve side plate on one side, and the other end of the elastic belt penetrates through the hole on the pipe clamp and is fixedly connected with the elastic belt connecting hole on the valve side plate on the other side.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211066354.7A CN115316216B (en) | 2022-08-30 | 2022-08-30 | Multi-sapling automatic planting robot |
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| CN202211066354.7A CN115316216B (en) | 2022-08-30 | 2022-08-30 | Multi-sapling automatic planting robot |
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| CN115316216B CN115316216B (en) | 2023-12-29 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117378454A (en) * | 2023-12-04 | 2024-01-12 | 内蒙古中航民富科技有限公司 | Bidirectional operation control method and system for desert planting robot |
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| CN105993834A (en) * | 2016-06-22 | 2016-10-12 | 南京工业职业技术学院 | Automatic tree planting device |
| WO2019077886A1 (en) * | 2017-10-16 | 2019-04-25 | 株式会社ミツバ | Speed reduction mechanism and motor with speed reducer |
| CN111480547A (en) * | 2020-05-22 | 2020-08-04 | 中建八局第一建设有限公司 | Device suitable for automatically planting trees on multiple terrains |
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| CN115316216B (en) | 2023-12-29 |
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